A multifunctional AGV radar industrial controller

Abstract

The utility model discloses a kind of multifunctional AGV radar industrial controller, including circuit board, and MCU module, inertial measurement unit, 24V power module, TCP communication module, radar module and gigabit network port integrated on circuit board;Radar module includes radar data interface, inertial measurement unit is used to collect the three-axis acceleration data and angular velocity data of AGV, radar data interface will AGV three-axis acceleration data, angular velocity data and radar point cloud data transmission to MCU module;TCP communication module passes through the auxiliary positioning data of gigabit network port of inertial measurement unit and radar point cloud data is transmitted to upper layer main control IPC.The utility model improves the coordination between modules by integrating 24V power module, MCU module, inertial measurement unit, radar data interface, TCP communication module, gigabit network port on circuit board, replaces PLC, and size and hardware cost are reduced.

Description

Technical Field

[0001] This utility model relates to the field of AGV technology, and in particular to a multifunctional AGV radar industrial controller. Background Technology

[0002] AGV (Automated Guided Vehicle) is an automated vehicle that does not require human driver and can travel along a preset path or autonomously planned path to complete tasks such as material handling and transportation. Its core features are automated operation, precise positioning and guidance, flexible adaptation, and safe collaboration. It is widely used in industrial logistics and manufacturing. Existing AGVs often use PLCs as industrial controllers. However, PLCs have problems such as large size, high cost, and poor flexibility and customization.

[0003] Mainstream AGV industrial control systems typically employ programmable logic controllers (PLCs) as the core control unit. PLCs have long held a dominant position in industrial environments due to their high reliability and anti-interference capabilities. However, as smart manufacturing increasingly demands more intelligent, flexible, networked, and cost-effective AGVs, traditional PLC-based control schemes have revealed numerous limitations: PLCs themselves are relatively large and have high hardware costs, hindering AGV miniaturization and cost optimization. Utility Model Content

[0004] The main purpose of this invention is to propose a multifunctional AGV radar industrial controller, which aims to solve the problems of relatively large size and high hardware cost of existing technologies, which are not conducive to the miniaturization and cost optimization of AGVs.

[0005] To achieve the above objectives, this utility model proposes a multifunctional AGV radar industrial controller, including a circuit board, and an MCU module, an inertial measurement unit, a 24V power supply module, a TCP communication module, a radar module, and a gigabit network port integrated on the circuit board. The MCU module is connected to the inertial measurement unit, the network switch module, and the radar module, respectively. The network switch module is used to communicate in parallel with multiple peripheral devices. The 24V power supply module is connected to the radar module and the MCU module, and the 24V power supply module is used to supply power to the radar module and the MCU module; The radar module includes a radar data interface, and the inertial measurement unit is connected to the radar data interface. The inertial measurement unit is used to collect the three-axis acceleration data and angular velocity data of the AGV. The radar data interface is used to receive the three-axis acceleration data, angular velocity data and radar point cloud data of the AGV, and transmit the three-axis acceleration data, angular velocity data and radar point cloud data of the AGV to the MCU module. The TCP communication module is connected to the gigabit network port and the inertial measurement unit. The TCP communication module transmits the auxiliary positioning data and radar point cloud data of the inertial measurement unit to the upper-layer main control IPC through the gigabit network port.

[0006] In this embodiment, the inertial measurement unit includes a gyroscope chip, a first resistor, and a second resistor. The inertial measurement unit is connected to the MCU module via a differential signal line with impedance matching. One end of the first resistor is connected to the receiving end of the gyroscope chip, and the other end of the first resistor is connected to the transmitting end of the MCU module. One end of the second resistor is connected to the transmitting end of the gyroscope chip, and the other end of the second resistor is connected to the receiving end of the MCU module.

[0007] In this embodiment, at least three gigabit Ethernet ports are provided.

[0008] In this embodiment, the AGV radar industrial controller further includes a switching power supply circuit, which is connected to the MCU module and converts AC power into DC power for transmission to the MCU module.

[0009] In this embodiment, the switching power supply circuit includes an input circuit, a transformer, a step-down circuit, and an output circuit connected in sequence. The input circuit is used to receive AC power. The step-down circuit is used to convert the high-voltage AC power to low-voltage AC power and transmit the low-voltage AC power to the step-down circuit. The step-down circuit is used to convert the low-voltage AC power to DC power and step down the DC power to power the MCU module.

[0010] In this embodiment, the output circuit includes a voltage divider circuit, a first capacitor, a second capacitor, and a third capacitor. The voltage divider circuit is connected to the step-down circuit, and the first capacitor, the second capacitor, and the third capacitor are connected in parallel with the output terminal of the step-down circuit.

[0011] In this embodiment, the voltage divider circuit includes a third resistor and a fourth resistor connected in series, with a connection point between the third resistor and the fourth resistor, and the voltage feedback terminal of the step-down circuit is connected to the connection point.

[0012] In this embodiment, the AGV radar industrial control system further includes a width indicator module, which is connected to the 24V power supply module and is used to indicate the outline and width of the AGV.

[0013] In this embodiment, an IO input module is also included. The IO input module is connected to the MCU module and is used to collect the IO photoelectric signals of the AGV and transmit the IO photoelectric signals to the MCU module.

[0014] In this embodiment, the MCU module includes the STM32F407.

[0015] This invention improves the coordination between modules by integrating an MCU module, an inertial measurement unit, a 24V power supply module, a TCP communication module, a radar module, and a gigabit Ethernet port on a circuit board, replacing a PLC, reducing size and hardware cost. The inertial measurement unit collects triaxial acceleration and angular velocity data and transmits them to the MCU module, while the 24V power supply module powers the radar module. The TCP communication module transmits the auxiliary positioning data from the inertial measurement unit and the radar point cloud data to the upper-level main control IPC through the gigabit Ethernet port, miniaturizing the AGV and optimizing costs. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of a module for an AGV radar industrial controller. Figure 2 This is a circuit diagram for a switching power supply. Figure 3 This is the circuit diagram for the MCU module. Figure 4 This is a circuit diagram for a gigabit Ethernet port. Figure 5 This is the circuit diagram of the inertial measurement unit.

[0018] Explanation of icon numbers: 1. 24V power supply module; 2. MCU module; 3. Inertial measurement unit; 4. Radar module; 41. Radar data interface; 5. TCP communication module; 6. Gigabit Ethernet port; 7. Main control IPC; U7. Gyroscope chip; R28. First resistor; R29. Second resistor; 8. Switching power supply circuit; 81. Input circuit; L2. Transformer; U2. Step-down circuit; 82. Output circuit; 821. Voltage divider circuit; C9. First capacitor; C12. Second capacitor; C13. Third capacitor; R4. Third resistor; R6. Fourth resistor; 9. Parking light module; 10. I / O input module; 11. Network switch module; 12. Circuit board.

[0019] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0022] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, if the word "and / or" appears throughout the text, it means including three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0023] This invention proposes a multifunctional AGV radar industrial controller.

[0024] The performance of AGV radar industrial controllers directly determines the accuracy, efficiency, and safety of AGVs, and is the core breakthrough for AGV technology upgrades. As AGVs develop towards intelligence and flexibility, AGV controllers are also developing towards intelligence, modularity, and networking.

[0025] In the embodiments of this utility model, such as Figure 1 , Figure 4 , Figure 5 As shown, this multifunctional AGV radar industrial controller includes a circuit board 12, and an MCU module 2, an inertial measurement unit 3, a 24V power supply module 1, a TCP communication module 5, a radar module 4, and a gigabit network port 6 integrated on the circuit board 12. The MCU module 2 is connected to the inertial measurement unit 3, the network switch module 11, and the radar module 4, respectively. The network switch module 11 is used for parallel communication with multiple peripheral devices. The 24V power supply module 1 is connected to the radar module 4 and the MCU module 2, and is used to supply power to the radar module 4 and the MCU module 2. The radar module 4 includes radar arrays. According to interface 41, the inertial measurement unit 3 is connected to the radar data interface 41. The inertial measurement unit 3 is used to collect the three-axis acceleration data and angular velocity data of the AGV. The radar data interface 41 is used to receive the three-axis acceleration data, angular velocity data and radar point cloud data of the AGV, and transmit the three-axis acceleration data, angular velocity data and radar point cloud data of the AGV to the MCU module 2. The TCP communication module 5 is connected to the gigabit network port 6 and the inertial measurement unit 3. The TCP communication module 5 transmits the auxiliary positioning data and radar point cloud data of the inertial measurement unit 3 to the upper-layer main control IPC7 through the gigabit network port 6.

[0026] This invention improves the coordination between modules by integrating an MCU module 2, an inertial measurement unit 3, a 24V power supply module 1, a TCP communication module 5, a radar module 4, and a gigabit Ethernet port 6 on a circuit board 12, replacing a PLC, reducing size and hardware cost. The inertial measurement unit 3 collects triaxial acceleration and angular velocity data and transmits them to the MCU module 2, while the power supply module powers the radar module 4. The TCP communication module 5 transmits the auxiliary positioning data and radar point cloud data from the inertial measurement unit 3 to the upper-level main control IPC 7 through the gigabit Ethernet port 6, miniaturizing the AGV and optimizing costs.

[0027] The TCP communication module 5 achieves bidirectional data interaction through the gigabit network port 6: on the one hand, it transmits the auxiliary positioning data and radar point cloud data of the inertial measurement unit 3 to the upper-layer main control IPC7; on the other hand, it receives the control commands of the main control IPC7 and sends them down to the lower-layer modules. The network switch module 11 supports an internal data exchange rate of ≥Gbps to meet the low latency requirements of parallel communication of multiple devices.

[0028] This AGV radar industrial controller is installed at the radar position on top of the AGV. The IMU data integrated in MCU module 2 is used for auxiliary positioning. Figure 3 As shown, the MCU module 2 uses an STM32F407 microcontroller. The overall size of the AGV radar industrial controller is ≤2000mm×1500mm, which is suitable for the installation space limitations of the radar on the top of the AGV and has passed IP54 protection level certification.

[0029] The network switch module 11 integrates a TCP / IP protocol stack and supports port isolation. When there is no data transmission, the network switch module 11 can switch to a low-power mode. At least three gigabit Ethernet ports 6 are provided; in this embodiment, four gigabit Ethernet ports 6 are integrated for exchanging TCP data with the TCP communication module 5, transmitting data from the underlying modules to the main control IPC 7, and issuing control commands from the main control IPC 7 to each module. The gigabit bandwidth of the gigabit Ethernet ports 6 meets the communication performance requirements of multiple network devices. Two gigabit Ethernet ports 6 are dedicated to connecting to the positioning radar (dedicated bandwidth ≥ 500 Mbps), and one gigabit Ethernet port 6 connects to the main control IPC (bidirectional transmission rate ≥ 1 Gbps). Providing multiple gigabit Ethernet ports 6 supports high-speed data transmission and network connectivity, and enables seamless connection with external devices or other network systems. By integrating gigabit Ethernet port 6 functionality, the need for external switching equipment is effectively reduced, hardware costs are lowered, data transmission efficiency is improved, and overall system latency is reduced.

[0030] Inertial Measurement Units (IMUs) are widely used in high-precision attitude control and position control, meeting the demands of high-precision and high-stability industrial applications. While common IMUs are standalone modules, this patent integrates the IMU directly into the AGV radar industrial controller, reducing AGV design costs and installation space. The IMU monitors the AGV's pitch / tilt angles in real time (especially when forklift AGVs are lifting goods), preventing tipping and optimizing motor torque distribution, thus improving the AGV's stability during use.

[0031] In addition, a 24V power supply module 1 is integrated to power the radar module 4 of the AGV, which shortens the module wiring and saves installation space.

[0032] Furthermore, the inertial measurement unit 3 includes a gyroscope chip U7, a first resistor R28, and a second resistor R29. One end of the first resistor R28 is connected to the receiving end of the gyroscope chip U7, and the other end of the first resistor R28 is connected to the transmitting end of the MCU module 2. One end of the second resistor R29 is connected to the transmitting end of the gyroscope chip U7, and the other end of the second resistor R29 is connected to the receiving end of the MCU module 2.

[0033] The gyroscope chip U7 is a sensor used to measure angular velocity and outputs an electrical signal related to that velocity. The first resistor R28 and the second resistor R29 are used for signal conditioning in the circuit. By controlling the current flow, the first resistor R28 and the second resistor R29 ensure correct signal transmission between the gyroscope chip U7 and the MCU module 2. Through the second resistor R29, the output signal of the gyroscope chip U7 can be adjusted to a level suitable for MCU processing, ensuring the accuracy and stability of data transmission.

[0034] In addition, such as Figure 2 As shown, the AGV radar industrial controller also includes a switching power supply circuit 8, which is connected to the MCU module 2. The switching power supply circuit 8 converts AC power to DC power for the MCU module 2. The switching power supply circuit 8 converts AC power into stable DC power to supply the MCU module 2, thereby supporting the normal operation of the entire AGV radar industrial controller. Switching power supplies, due to their high efficiency and small size, are suitable for use in industrial control systems such as AGVs.

[0035] In one embodiment, the switching power supply circuit 8 includes an input circuit 81, a transformer L2, a step-down circuit U2, and an output circuit 82 connected in sequence. The input circuit 81 is used to receive AC power. The step-down circuit U2 is used to convert the high-voltage AC power to low-voltage AC power and transmit the low-voltage AC power to the step-down circuit U2. The step-down circuit U2 is used to convert the low-voltage AC power to DC power and step down the DC power to supply power to the MCU module 2.

[0036] The function of input circuit 81 is to receive AC power from an external source. Typically, AC power comes from the mains, and its voltage and frequency are unsuitable for directly supplying the MCU module 2 or other sensitive electronic components. Therefore, transformer L2 is used to convert the input AC voltage into a more suitable voltage. For example, transformer L2 might convert high-voltage AC to lower-voltage AC.

[0037] In one embodiment, the output circuit 82 includes a voltage divider circuit 821, a first capacitor C9, a second capacitor C12, and a third capacitor C13. The voltage divider circuit 821 is connected to the step-down circuit U2, and the first capacitor C9, the second capacitor C12, and the third capacitor C13 are connected in parallel to the output terminal of the step-down circuit U2.

[0038] The voltage divider circuit 821 further distributes or adjusts the voltage output of the buck circuit U2 to ensure that the voltage output is suitable for the needs of other circuits or loads in the system. Through the first capacitor C9, the second capacitor C12, and the third capacitor C13, voltage smoothing, filtering, and noise reduction are performed. When the voltage output of the buck circuit U2 fluctuates or becomes unstable, the first capacitor C9, the second capacitor C12, and the third capacitor C13 release the stored charge to help smooth the voltage and make the output voltage more stable.

[0039] Furthermore, the voltage divider circuit 821 includes a third resistor R4 and a fourth resistor R6 connected in series, with a connection point between them. The voltage feedback terminal of the step-down circuit U2 is connected to this connection point. These two resistors connected in series constitute the voltage divider circuit 821. Based on the resistance ratio, the voltage divider circuit 821 can generate a smaller voltage according to the input voltage, which will serve as the feedback signal.

[0040] The connection point between the third resistor R4 and the fourth resistor R6 is the voltage feedback signal acquisition point. Through voltage distribution, the voltage value at the connection point is determined by the resistance ratio of the third resistor R4 and the fourth resistor R6. Using the feedback signal received at the voltage feedback terminal, the buck circuit U2 can adjust its output voltage to ensure that the output voltage is stable at the desired value. By setting the values ​​of the third resistor R4 and the fourth resistor R6, the feedback voltage can be precisely controlled, thus affecting the accuracy of the final output voltage. The resistance ratio determines the relationship between the feedback voltage and the output voltage, thereby ensuring that the system operates stably within the design range.

[0041] In addition, the AGV radar industrial controller also includes a marker light module 9, which is connected to the 24V power supply module. The marker light module 9 is used to indicate the outline and width of the AGV. The marker light module 9 uses light to indicate the actual width and outline of the AGV, serving a visual indication function. AGVs typically operate in complex environments where there may be other vehicles or obstacles nearby; the role of the marker light is to clearly indicate the space occupied by the AGV, preventing collisions with surrounding objects.

[0042] The upper-level main control IPC7 interface reports the triaxial acceleration and angular velocity data collected by the integrated inertial measurement unit 3 and forwards the data received by the radar data interface 41.

[0043] Interconnection of lower-level modules: IMU data is collected, then the TCP protocol is switched to report the data to the main control, the radar data interface 41 and the indicator light module 9 are powered through the 24V power supply module 1, and the data of the radar module 4 is collected through the four gigabit network ports 6.

[0044] The AGV radar industrial controller also includes an IO input module 10, which is connected to the MCU module 2. The IO input module 10 is used to collect the IO photoelectric signals of the AGV and transmit the IO photoelectric signals to the MCU module 2.

[0045] The operation of the I / O input module 10 enables the AGV to collect and transmit critical environmental data to the MCU module 2 in real time. The MCU module 2 can then react instantly based on this data. For example, if the AGV's sensors detect an obstacle ahead, the MCU module 2 can use the received photoelectric signals to instruct the AGV to adjust its direction or stop, avoiding collisions. The connection between the I / O input module 10 and the MCU module 2 makes the system more scalable and modular. The AGV system can add or modify the I / O input module 10 according to different needs, such as adding more sensors or detection modules as needed, without affecting the overall operation of the system. The MCU module 2 is responsible for processing these input signals uniformly, thereby ensuring the system's coordination.

[0046] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of this utility model. For those skilled in the art, this utility model can have various modifications, combinations, and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the scope of the claims of this utility model.

Claims

1. A multifunctional AGV radar industrial controller, characterized in that, Includes a circuit board, and an integrated MCU module, inertial measurement unit, 24V power supply module, TCP communication module, radar module and gigabit network port on the circuit board; The MCU module is connected to the inertial measurement unit, the network switch module, and the radar module, respectively. The network switch module is used to communicate in parallel with multiple peripheral devices. The 24V power supply module is connected to the radar module and the MCU module, and the 24V power supply module is used to supply power to the radar module and the MCU module; The radar module includes a radar data interface, and the inertial measurement unit is connected to the radar data interface. The inertial measurement unit is used to collect the three-axis acceleration data and angular velocity data of the AGV. The radar data interface is used to receive the three-axis acceleration data, angular velocity data and radar point cloud data of the AGV, and transmit the three-axis acceleration data, angular velocity data and radar point cloud data of the AGV to the MCU module. The TCP communication module is connected to the gigabit network port and the inertial measurement unit. The TCP communication module transmits the auxiliary positioning data and radar point cloud data of the inertial measurement unit to the upper-layer main control IPC through the gigabit network port.

2. The multifunctional AGV radar industrial controller as described in claim 1, characterized in that, The inertial measurement unit includes a gyroscope chip, a first resistor, and a second resistor. The inertial measurement unit is connected to the MCU module via a differential signal line with impedance matching. One end of the first resistor is connected to the receiving end of the gyroscope chip, and the other end of the first resistor is connected to the transmitting end of the MCU module. One end of the second resistor is connected to the transmitting end of the gyroscope chip, and the other end of the second resistor is connected to the receiving end of the MCU module.

3. The multifunctional AGV radar industrial controller as described in claim 1, characterized in that, At least three gigabit Ethernet ports shall be provided.

4. The multifunctional AGV radar industrial controller as described in claim 1, characterized in that, The AGV radar industrial controller also includes a switching power supply circuit, which is connected to the MCU module and converts AC power into DC power for transmission to the MCU module.

5. The multifunctional AGV radar industrial controller as described in claim 4, characterized in that, The switching power supply circuit includes an input circuit, a transformer, a step-down circuit, and an output circuit connected in sequence. The input circuit is used to receive AC power. The step-down circuit is used to convert the high-voltage AC power to low-voltage AC power and transmit the low-voltage AC power to the step-down circuit. The step-down circuit is used to convert the low-voltage AC power to DC power and step down the DC power to power the MCU module.

6. The multifunctional AGV radar industrial controller as described in claim 5, characterized in that, The output circuit includes a voltage divider circuit, a first capacitor, a second capacitor, and a third capacitor. The voltage divider circuit is connected to the step-down circuit, and the first capacitor, the second capacitor, and the third capacitor are connected in parallel with the output terminal of the step-down circuit.

7. The multifunctional AGV radar industrial controller as described in claim 6, characterized in that, The voltage divider circuit includes a third resistor and a fourth resistor connected in series, with a connection point between the third resistor and the fourth resistor, and the voltage feedback terminal of the step-down circuit is connected to the connection point.

8. The multifunctional AGV radar industrial controller as described in claim 1, characterized in that, The AGV radar industrial controller also includes a width indicator module, which is connected to the 24V power supply module and is used to indicate the outline and width of the AGV.

9. The multifunctional AGV radar industrial controller as described in claim 1, characterized in that, It also includes an IO input module, which is connected to the MCU module. The IO input module is used to collect the IO photoelectric signals of the AGV and transmit the IO photoelectric signals to the MCU module.

10. The multifunctional AGV radar industrial controller as described in claim 1, characterized in that, The MCU module model includes STM32F407.

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